// Copyright (c) 2017, Open Source Robotics Foundation, Inc.
// Copyright (c) 2017, Bosch Software Innovations GmbH.
// All rights reserved.
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include "rviz_common/ros_integration/ros_client_abstraction.hpp"

#include <memory>
#include <mutex>
#include <string>

#include "rclcpp/rclcpp.hpp"

#include "rviz_common/ros_integration/ros_node_abstraction.hpp"

namespace rviz_common
{
namespace ros_integration
{

RosClientAbstraction::RosClientAbstraction(const rclcpp::NodeOptions & options)
: options_(options)
{}

RosNodeAbstractionIface::WeakPtr
RosClientAbstraction::init(int argc, char ** argv, const std::string & name, bool anonymous_name)
{
  std::string final_name = name;
  if (anonymous_name) {
    // TODO(wjwwood): add anonymous name feature to rclcpp or somehow make name
    //                anonymouse here.
    throw std::runtime_error("'anonymous_name' feature not implemented");
    // final_name = <the full anonymous node name>;
  }
  // TODO(wjwwood): this will throw on repeated calls, maybe avoid that?
  rclcpp::init(argc, argv);
  if (rviz_ros_node_ && rviz_ros_node_->get_node_name() == final_name) {
    // TODO(wjwwood): make a better exception type rather than using std::runtime_error.
    throw std::runtime_error("Node with name " + final_name + " already exists.");
  }
  rviz_ros_node_ = std::make_shared<RosNodeAbstraction>(final_name, options_);
  return rviz_ros_node_;
}

bool
RosClientAbstraction::ok()
{
  return rclcpp::ok() && rviz_ros_node_;
}

void
RosClientAbstraction::shutdown()
{
  rclcpp::shutdown();
}

}  // namespace ros_integration
}  // namespace rviz_common
